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1、HindawiPublishingCorporationJournalofAppliedMathematicsVolume2014,ArticleID825726,8pageshttp://dx.doi.org/10.1155/2014/825726ResearchArticleResearchonWaveletSingularityDetectionBasedFault-TolerantFederatedFilteringAlgorithmforINS/GPS/DVLIntegratedNavigati
2、onSystem1,21211,2JianhuaCheng,DaidaiChen,ReneLandryJr.,LinZhao,andDongxueGuan1MarineNavigationResearchInstitute,CollegeofAutomation,HarbinEngineeringUniversity,Harbin150001,China2LASSENALaboratory,EcoledeTechnologieSup′erieure,Universit′eduQu′ebec,Montrea
3、l,QC,CanadaH3C1K3′CorrespondenceshouldbeaddressedtoDaidaiChen;insdai@163.comReceived4April2014;Revised21June2014;Accepted29July2014;Published17August2014AcademicEditor:H.R.KarimiCopyright?2014JianhuaChengetal.ThisisanopenaccessarticledistributedundertheCr
4、eativeCommonsAttributionLicense,whichpermitsunrestricteduse,distribution,andreproductioninanymedium,providedtheoriginalworkisproperlycited.Softfaultsinnavigationsensorswillleadtothedegradationoftheaccuracyandreliabilityofintegratednavigationsystem.Tosolve
5、thisproblem,awaveletanalysisandsignalsingularitiesbasedsoftfaultdetectionmethodaregivenout.Tofindsignalsingularitiesanddetectthefaults,themodulusmaximavaluesarecalculatedafterthewavelettransformoforiginalsignal.BycalculatingtheLipschitzexponentusingthemod
6、ulusmaximavalueatthefaultpoint,thefaulttypesaredistinguished.Then,afault-tolerantfederatedfilteringalgorithmforthecalibrationofINS/GPS/DVLintegratednavigationsystemisproposed.Simulationsareconductedandresultsshowthatsensorsoftfaultscanbedetectedaccurately
7、.Byeffectivelyisolatingthefaultandrefactoringinformation,theaccuracyandreliabilityofnavigationsystemareimproved.1.IntroductionwillaffectthecalibrationaccuracyofINSdirectlyaswellastheentireINS/GPS/DVLintegratednavigationsystem.AsHigherstandardsfortheaccura
8、cyandreliabilityofnaviga-fortheentirecalibrationprocessforINS,itisnecessarytotionsystemsarerequiredwiththedevelopmentofmodernguaranteetheaccuracyandreliabilityofexternalinformationship,aircraft,andlandvehicle.Device
